基于Sage-Husa方法的旋翼姿态控制  

Attitude control of quadrotor based on Sage-Husa algorithm

作　　者：王晓东[1] 马磊[1] 韦宗毅 

机构地区：[1]西南交通大学电气工程学院,四川成都610031

出　　处：《计算机工程与设计》2015年第7期1747-1751,共5页Computer Engineering and Design

基　　金：国家自然科学基金项目(61075104)

摘　　要：针对传统IMU传感器信息融合方法对外界信息变化不敏感等问题,在分析陀螺仪噪声特性并建立基于ARMA模型的卡尔曼滤波器抑制陀螺仪随机噪声的基础上,将基于Sage-Husa方法的卡尔曼滤波器作为信息融合算法,增强姿态解算系统的自适应性。为提高Sage-Husa算法容错性能,提出一种加速度计可信性条件,根据总加速度与重力幅值、方向上的差异来判定是否进行姿态融合。在基于ARM Cortex M4内核的嵌入式系统上实现姿态解算和姿态控制系统,在自制四旋翼飞行器半实物仿真平台上进行的实验结果表明,以上方法降低了姿态静态及动态解算误差,提高了姿态系统状态的跟踪性和适应性,满足复杂运动环境下姿态控制的需求。The traditional data fusion methods of IMU sensors are insensitive to various circumstances,hence a Kalman filter based on ARMA model was established to restrain the noise of gyroscope after analyzing the noise characteristics of gyroscope,Sage-Husa algorithm was used as an information fusion algorithm,which was proposed to improve the self-adaptability of attitude determination system.To improve fault tolerance of Sage-Husa algorithm,a kind of threshold condition regarding the credibility of the accelerometer data was proposed,which decided whether to fuse information according to the difference in amplitude and direction between accelerometer and gravity.An ARM Cortex M4-based attitude determination and control system was designed.Results of experiments based on an in-house made hardware-in-the-loop quadrotor platform show that these methods can diminish static error and dynamic error of attitude determination system and enhance the system＇s tracing ability and adaptability,which fulfills requirements of complex attitude control.

关 键 词：微型惯性测量单元 卡尔曼滤波 Sage-Husa方法 姿态解算 自适应 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]